scan_data_receiver.h
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00001 // Copyright (c) 2014, Pepperl+Fuchs GmbH, Mannheim
00002 // Copyright (c) 2014, Denis Dillenberger
00003 // All rights reserved.
00004 //
00005 // Use, modification, and distribution is subject to the
00006 // 3-clause BSD license ("Revised BSD License",
00007 // "New BSD License", or "Modified BSD License")
00008 // You should have received a copy of this license
00009 // in a file named COPYING or LICENSE.
00010 
00011 #ifndef SCAN_DATA_RECEIVER_H
00012 #define SCAN_DATA_RECEIVER_H
00013 
00014 #define BOOST_CB_DISABLE_DEBUG
00015 #include <string>
00016 #include <iostream>
00017 #include <mutex>
00018 #include <condition_variable>
00019 #include <deque>
00020 #include <array>
00021 #include <boost/bind.hpp>
00022 #include <boost/asio.hpp>
00023 #include <boost/thread.hpp>
00024 #include <boost/circular_buffer.hpp>
00025 #include <pepperl_fuchs_r2000/packet_structure.h>
00026 
00027 namespace pepperl_fuchs {
00028 
00032 class ScanDataReceiver
00033 {
00034 public:
00036     ScanDataReceiver(const std::string hostname, const int tcp_port);
00037 
00039     ScanDataReceiver();
00040 
00042     ~ScanDataReceiver();
00043 
00045     int getUDPPort() const { return udp_port_; }
00046 
00048     bool isConnected() const { return is_connected_; }
00049 
00051     void disconnect();
00052 
00057     ScanData getScan();
00058 
00062     ScanData getFullScan();
00063 
00065     std::size_t getScansAvailable() const { return scan_data_.size(); }
00066 
00068     std::size_t getFullScansAvailable() const;
00069 
00070 private:
00072     void handleSocketRead(const boost::system::error_code& error);
00073 
00075     void handleSocketRead(const boost::system::error_code& error, std::size_t bytes_transferred);
00076 
00079     bool handleNextPacket();
00080 
00083     int findPacketStart();
00084 
00087     bool retrievePacket( std::size_t start, PacketTypeC* p );
00088 
00091     bool checkConnection();
00092 
00096     void readBufferFront(char* dst, std::size_t numbytes );
00097 
00101     void writeBufferBack(char* src, std::size_t numbytes );
00102 
00104     int udp_port_;
00105 
00107     bool is_connected_;
00108 
00110     boost::thread io_service_thread_;
00111     boost::asio::io_service io_service_;
00112 
00114     boost::asio::streambuf inbuf_;
00115 
00117     std::istream instream_;
00118 
00120     boost::asio::ip::tcp::socket* tcp_socket_;
00121 
00123     boost::asio::ip::udp::socket* udp_socket_;
00124 
00126     boost::asio::ip::udp::endpoint udp_endpoint_;
00127 
00129     std::array< char, 65536 > udp_buffer_;
00130 
00132     boost::circular_buffer<char> ring_buffer_;
00133 
00135     std::mutex data_mutex_;
00136 
00138     std::condition_variable data_notifier_;
00139 
00141     std::deque<ScanData> scan_data_;
00142 
00144     double last_data_time_;
00145 };
00146 
00147 }
00148 #endif // SCAN_DATA_RECEIVER_H


pepperl_fuchs_r2000
Author(s): Denis Dillenberger
autogenerated on Thu Jun 6 2019 19:34:11